Thesis (MScEng)--Stellenbosch University, 2011. / ENGLISH ABSTRACT: RoboCup promotes research in robotics and multi-robot systems (MRS).
The RoboCup Small Size League (SSL), in particular, offers an entry level
opportunity to take part in this field of study. This thesis presents a starting
phase for research in robotics and MRS at Stellenbosch University. It includes
the full documentation of the mechanical, electronic and software design of an
omni-directional soccer robot for RoboCup SSL. The robot is also meant to
operate as a hardware and software development platform for research in MRS.
The platform was therefore designed with high-level programming language
compatibility, a wide range of connectivity, and modularity in mind. The
robot uses a single board computer (SBC) running a Linux operating system
to accomplish these objectives. Moreover, a driver class library was written
in C++ as a software application interface (API) for future development on
the robot platform. The robot was also developed with a particular focus on a
distributed control architecture. "Player" was implemented as the middleware,
which can be used for communication between multiple robots in a distributed
environment. Additionally, three tests were performed to demonstrate the
functionality of the prototype: a PI speed control test, a direction accuracy
test and a static communication test using the middleware. Recommendations
for possible future work are also given. / AFRIKAANSE OPSOMMING: RoboCup bevorder navorsing in robotika en multi-robot-stelsels (MRS). Die
RoboCup Klein Liga (KL) bied in die besonder die geleentheid om op intreevlak
navorsing te doen in hierdie veld. Hierdie tesis verteenwoordig die eerste fase
van navorsing in robotika en MRS by Stellenbosch Universiteit. Dit sluit die
volledige dokumentasie van die meganiese, elektroniese en sagteware-ontwerp
van ’n omnidireksionele sokker-robot vir die KL in. Die robot is ook veronderstel
om te dien as ’n hardeware- en sagteware-ontwikkelingsplatform vir
navorsing in MRS. Die platform is dus ontwerp met ’n verskeidenheid van uitbreingsmoontlikhede
en modulariteit in gedagte asook die moontlikheid om
gebruik te maak van ’n hoë-vlak programmeertaal. Om hierdie doelwitte
te bereik, maak die robot gebruik van ’n enkel-bord-rekenaar met ’n Linux
bedryfstelsel. Verder was ’n sagteware drywer in C++ geskryf om te dien as
’n sagteware-koppelvlak vir toekomstige ontwikkeling op die robot platform.
Die robot is ook ontwikkel met die besondere fokus op ’n gedesentraliseerde
beheerstels. Player was geïmplementeer as die middelware, wat gebruik kan
word vir kommunikasie tussen verskeie robotte in ’n gedesentralliseerde beheerstelsel.
Daar is drie toetse uitgevoer om die funksionaliteit van die prototipe
te demonstreer, ’n PI spoed beheer toets, ’n rigting akkuraatheidstoets en ’n
statiese kommunikasie toets deur van die middelware gebruik te maak. Aanbevelings
vir moontlike toekomstige werk word ook verskaf.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/17785 |
| Date | 12 1900 |
| Creators | Smit, Albert |
| Contributors | Scheffer, C., Kim, Y., Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. |
| Publisher | Stellenbosch : Stellenbosch University |
| Source Sets | South African National ETD Portal |
| Language | en_ZA |
| Detected Language | English |
| Type | Thesis |
| Format | 120 p. : ill. |
| Rights | Stellenbosch University |
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